Communication system for closed loop control of a worksite

ABSTRACT

A communication system facilitates a closed loop, two-way communication network between machines at a worksite and a remote processing facility. A management and control system receives operations data and generates recommended adjustments to the worksite operations. A manager system provides manager outputs over the communication network to adjust operations of the machines at the worksite based on the recommended adjustments.

CROSS-REFERENCE TO RELATED APPLICATION

The present application is a continuation of U.S. patent applicationSer. No. 14/275,364 filed May 12, 2014, the content of which is herebyincorporated by reference in its entirety.

RELATED APPLICATIONS

The present application is related to U.S. application Ser. No.14/275,374, entitled MODEL REFERENCED MANAGEMENT AND CONTROL OF AWORKSITE, filed on May 12, 2014, and assigned to the same assignee asthe present case.

FILED OF THE DESCRIPTION

The present description relates to managing and controlling a worksite.More specifically, the present description relates to managing andcontrolling a worksite using a closed loop control system.

BACKGROUND

Many worksite operations have relatively complicated logistic systemsassociated with them. Such worksite operations can include, forinstance, construction site operations, forestry operations, andagricultural operations. In some cases, a single manager or organizationis in charge of managing and controlling multiple different worksites.For instance, a construction manager may be in charge of controlling thelogistics and other aspects of multiple different construction sites atthe same time. In addition, a forestry organization or company may beharvesting at multiple different worksites. Further, an agriculturalcompany or farm manager may be in charge of managing and controllingoperations at multiple different worksites (such as multiple differentfields that are harvesting simultaneously). A manager may attempt tomonitor and coordinate the operations of a plurality of differentvehicles utilized at each worksite or at multiple different worksites,simultaneously.

One example of an operation that has relatively complicated logistics isa sugarcane production operation. A conventional sugarcane mill mayaccept harvested sugarcane from multiple different fields surroundingthe mill, in order to maintain a constant rate of production through themill. The distances from the fields to the mill may be, for instance, onthe order of 25 kilometers. A representative set of sugarcane harvestingequipment may include, for example, 15 harvesters, 30 tractors, 60wagons, and 7 highway trucks. A plurality of different sugarcaneharvesters (say, for example, 3 harvesters) may be harvesting sugarcanefrom a single field.

The harvesting process includes cutting the cane at the base, strippingthe leaves, cutting the cane stalks into usable “billets”, anddepositing the billets into a tractor-drawn billet wagon that travelsalongside the harvester. When the billet wagon reaches a desiredcapacity, the harvester may stop the harvesting process to allow thefull billet wagon to depart, and a second tractor-drawn billet wagon tobe positioned alongside the harvester to receive the harvested crop. Thefull billet wagon is transported to a larger capacity trailer truck andthe crop is transferred from the billet wagon to the trailer truck. Thebillet wagon then travels to a location where it is ready to positionitself to receive billets from one of the working harvesters in thefield.

The trailer truck either remains at its location to receive additionalcrop from other billet wagons, or it may travel to another location toreceive additional crop from billet wagons in the same field, or in adifferent field. When the trailer truck reaches a desired capacity, itis transported to a larger storage or processing area, such as asugarcane mill. After unloading the crop, the trailer truck travels toits previous location, or to a new location, to receive additional croploads from the billet wagons.

Some operations of this type have a field manager that coordinates thevehicle logistics. The field manager attempts to maintain communicationwith the sugarcane mill, the cane harvesters, and all of the varioustransferring vehicle operators to determine current vehicle locations,vehicle status and resource needs. Transfer vehicles, such as billetwagons and trailer trucks, are directed to locations based upon actualor anticipated harvester locations. Additionally, the field managerattempts to use as few vehicles as are necessary, with minimal operatordowntime.

The field manager thus considers a great deal of logistical informationin order to properly coordinate the resources of the operation. Thefield manager's task is often further complicated because some factors(such as machine capabilities, geographical terrain and mill demand) maymean that the field manager must use multiple different communicationsystems to coordinate the operational activities.

The operations are often on-going for relatively long periods of time atrelatively high volumes. For instance, sugarcane harvest may last forapproximately 200 days (as an example) and process cane at a rate of7500 tons of sugarcane per day for a typical mill.

The discussion above is merely provided for general backgroundinformation and is not intended to be used as an aid in determining thescope of the claimed subject matter.

SUMMARY

A communication system facilitates a closed loop, two-way communicationnetwork between machines at a worksite and a remote processing facility.A management and control system receives operations data and generatesrecommended adjustments to the worksite operations. A manager systemprovides manager outputs over the communication network to adjustoperations of the machines at the worksite based on the recommendedadjustments.

This Summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription. This Summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used as an aid in determining the scope of the claimed subjectmatter. The claimed subject matter is not limited to implementationsthat solve any or all disadvantages noted in the background.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of one illustrative operations architecture inan industrial agriculture environment.

FIG. 2 is another embodiment of an operations architecture, whichincludes a plurality of different worksites, in an industrialagricultural environment.

FIG. 3 is a block diagram of a management and control architecture forthe operations architecture shown in FIG. 2.

FIG. 3A is a block diagram of one embodiment of a communication system.

FIG. 4 is a block diagram of one example of a management and controlsystem.

FIGS. 5A and 5B (collectively FIG. 5) show a flow diagram illustratingone embodiment of the operation of the management and control systemshown in FIG. 4.

FIG. 6 shows one example of a management and control user interfacedisplay that can be generated with a line-balancing graph.

FIG. 7 shows one embodiment of a management and control user interfacedisplay.

FIG. 8 shows one embodiment of a line-balancing graph after adjustmentsare made.

FIG. 9 shows one embodiment of a computing environment.

FIG. 10 shows another embodiment of a computing environment.

DETAILED DESCRIPTION

The present discussion can be applied in a wide variety of differentenvironments. For instance, it can be applied in a forestry environment,in a construction environment, in an industrial agriculturalenvironment, or in other environments. Each of the environments may haveone or more worksites where operational and logistical management andcontrol is desired. The present discussion proceeds with respect to anindustrial agricultural environment, but this is described by way ofexample only. The specific example discussed is a sugarcane harvestingoperation. Again, this is only one specific example of an industrialagricultural operation, and the present discussion could be applied toothers as well.

FIG. 1 is a block diagram of one embodiment of a field operationarchitecture 100, in which sugarcane is being harvested from field 102.The dashed arrows shown in FIG. 1 illustrate product (e.g., harvestedsugarcane) flow through architecture 100 to either a storage facility104 or a processing facility 106 (such as a sugarcane mill). FIG. 1 alsoshows that architecture 100 has an associated service truck 108 that, asis described in greater detail below, includes not only a communicationsystem for providing closed loop communication for the architecture 100,storage facility 104 and processing facility 106, but it also includes amanagement and control system for managing and controlling theoperations and logistics of the overall operation.

In the example shown in FIG. 1, field operation architecture 100includes a plurality of systems. For instance, a harvesting systemincludes a plurality of harvesters 110-112. While only two harvestersare shown, it will be appreciated that a single harvester or moreharvesters, can be used. Harvesters 110 and 112 illustratively harvestsugarcane from field 102. Architecture 100 also includes in-fieldtransport system 114, transfer system 121 and road transport system 116.The harvested sugarcane is transmitted from harvesters 110-112 byin-field transport system 114. In one embodiment, system 114 includesone or more tractors 118 that pull one or more associated billet wagons120. The tractors 118 move wagons 120 into position relative toharvesters 110-112 so that they can be filled, as harvesters 110-112 areharvesting. When a given wagon 120 is full, it's associated tractor 118moves it toward the road transport system 116. The billets aretransferred to the road transport system 116 by transfer system 121. Theroad transport system 116 takes the load to either storage facility 104or processing facility 106.

In the embodiment illustrated, road transport system 116 illustrativelyincludes one or more trucks 122 that pull one or more associatedtrailers 124. Each trailer 124 illustratively has a capacity to holdsugarcane billets from a plurality of different wagons 120. When a giventrailer 124 reaches its desired capacity, its associated truck 122 takesit, over the road, to the designated storage facility 104 or processingfacility 106. The sugarcane billets are weighed and unloaded at thedesired facility. They are then processed through that facility.

FIG. 2 shows another embodiment that includes both field operationarchitecture 100 and one or more additional field operationarchitectures 130 and 156. The embodiment shown in FIG. 2 illustratesthat even some industrial agricultural operations (e.g., a singlesugarcane operation) can include a plurality of worksites. A sugarcaneoperation, for instance, can include multiple worksites. Each worksitecan have an associated field operation architecture that harvestssugarcane from a given field.

Thus, architecture 100 is the same as that shown in FIG. 1, and similaritems are similarly numbered. However, in the industrial agriculturaloperation shown in FIG. 2, the same manager may be in charge ofcontrolling not only the operations in architecture 100, but theoperations in architectures 130 and 156 as well. Architecture 130 showsthat a plurality of different harvesters 132-134 are harvestingsugarcane from another sugarcane field 136. As with operationarchitecture 100, architecture 130 also includes an in-field transportsystem 138, a transfer system 139 and a road transport system 140. Eachin-field transport system 138 includes one or more tractors 142 thatpull one or more associated billet wagons 144. Road transport system 140includes one or more trucks 146 that pull one or more correspondingtrailers 148. Architecture 156 may be the same as, or different from,architectures 100 and 130.

In the embodiment shown in FIG. 2, a single service truck 108 includesthe communication systems that are used to close the communication loopbetween all of the entities in the embodiment shown in FIG. 2. Servicetruck 108 also includes the management and control systems to manage andcontrol logistics and other aspects of the overall agriculturaloperation depicted in FIG. 2.

FIG. 3 is a block diagram of one illustrative management and controlarchitecture 150, deployed in the industrial architectural operationdepicted in FIG. 2. Some of the items shown in architecture 150 aresimilar to those shown in FIG. 2, and they are similarly numbered.Architecture 150 is shown to indicate how personnel in service truck 108can use management and control system 152, and communication system 154to perform management and control operations for the overall industrialagricultural operation depicted in FIG. 2. Thus, architecture 150includes field operation architecture 100, field operation architecture130, and it can include other field operation architectures 156 as well.

In the embodiment shown in FIG. 3, service truck 108 is illustrativelypositioned to establish a multi-band communications network. The networkillustratively has geographical coverage that includes all of the fieldoperation architectures 100, 130 and 156 for the fields to be harvested,as well as the storage facilities 104 and processing facilities 106 thatreceive the harvested crop, and the connecting fields and roadways thatare available for use by the in-field transport vehicles and the roadtransport vehicles.

Communication system 154 is illustratively equipped with components thatenable it to establish a telecommunications link and, when combined withmanagement and control system 152, form a field operations commandcenter. Some such components are shown in FIG. 3A. They may include, forinstance, antennae 155, one or more transmitters 157 and receivers 159,processors 161, user interface components 163 and they can include otheritems 165 as well. For example, communication system 154 may include adigital broadcasting system within a combined spectrum signal in the 450MHz range. This can be well suited for field activities spread overlarge acreage where cell phone coverage may not be sufficient, may betoo expensive, or may not be sufficiently secure.

The items in each of the field operation architectures 100, 130 and 156(e.g., the harvesters, tractors, trucks and/or trailers), as well as thestorage facilities 104 and processing facilities 106, are alsoillustratively equipped with communication systems that include a datacommunications device and a user interface device. These devices use thecommunications network established by communication system 154 inservice truck 108 to transmit data to the management and control system152 in service truck 108. Each of the items in each of the fieldoperation architectures 100, 130 and 156 illustratively provideoperational data indicative of the operator and operation of theparticular machine transmitting the data.

Management and control system 152 is described in greater detail belowwith respect to FIGS. 4 and 5. Briefly, however, it illustrativelyincludes processors that process the received field operational data andgenerate recommended operator actions. The recommendations areillustratively transmitted to the machine operators using thecommunications network and user interfaces on the various machines.

By way of example, the management and control system 152 can receive awide variety of different data from each crop harvester. For instance,it can include real-time (or near real-time) machine performance data,machine settings, ground speed, orientation, location and direction oftravel, fuel consumption data, mass flow data, yield data, grain tankfill status, idle time data, data indicative of time waiting to unload,various transport times, data indicative of the time that a given pieceof equipment is waiting in line at various points in the operationsarchitecture, operator identifying data, operator performance data,among other things. By near real time, it is meant, in one example, thedata is received and processed with only the time delay introduced byautomated data processing or network transmission, between theoccurrence of the event giving rise to the data and the use of the data,such as for display or feedback and control purposes.

Management and control system 152 can also receive information from thebillet wagons or their associated tractors. This can include, forinstance, real-time (or near real time) information such as location,heading, ground speed and wagon storage capacity, among others.

Further, system 152 can receive data from the trucks and correspondingtrailers in the road transport systems. This can include, for instance,real-time (or near real time) information such as location, heading,ground speed and trailer crop storage capacity, among others.

It can receive information from the crop storage facilities or sugarcanemills as well. This can include, for instance, real-time (or near realtime) information indicative of weighing station and unloading stationavailability, wait times, the length of queues, etc.

Further, it can receive data indicative of various operator inputs. Thisdata can include, for instance, information regarding estimated machinedown-time due to maintenance or repairs, estimations as to the idle timeor time spent waiting in line or waiting for other assets within theoperation. By way of example, it may include information indicative ofthe time spent by a given harvester waiting for an empty billet wagon tobe brought to its location for unloading.

These are only examples of information that can be transmitted tomanagement and control system 152. A wide variety of additional ordifferent information could be used as well.

Management and control system 152 illustratively receives theinformation on a continuous or intermittent basis and processes it sothat various components of the field operation can be directed topredicted locations based on the received information. For instance,directions can be given based on current vehicle operating parametersand the relative movements of the other vehicles. Additionally, fieldmanagement and control system 152 can generate recommendations foradjustments to vehicle operating parameters and to other aspects of theoperation based on the collected overall operations data. By way ofexample, a given crop harvester may be directed to operate at a reducedspeed, to save fuel and increase yield, if a billet wagon is known to bedelayed. As another example, a crop harvester may be directed to adjustits maintenance schedule due to billet wagon availability. In that way,the maintenance can be scheduled to occur when a billet wagon isunavailable, so that it occurs when the harvester would be idle anyway.Similarly, the routes and schedules of trucks and trailers taking thecrop to a storage facility or a mill, can be adjusted to alleviatecongestion at a given storage facility or mill. Processing delays at acrop storage facility or a mill can be monitored in real-time (or nearreal time) and appropriate adjustments can be made to the entire vehiclerouting system. Again, these are only examples of the types of outputsthat can be generated by management and control system 152.

It can thus be seen that by providing the service truck as a mobilefield service center, in one embodiment, a closed communication loopamong all of the systems in each of one, or a plurality, of fieldoperation architectures 100, 130 and 156 is established. It can beestablished by a local, two-way communication system among the items ineach operation architecture 100, 130 and 156 and a correspondingmanagement and control system. It can also establish a communicationsystem that communicates with storage and processing facilities. Thecommunication systems can be general mobile radio systems (GMRS), wificommunication systems, or other systems (such as a 450 mHz system, withrepeaters as needed). This allows management and control system 152 toprovide closed loop management and control of all of the operations, inorder to improve performance of the entire operation. By receivinginformation from all of the items in the overall operation, managementand control system 152 can generate specific, actionable, outputs thatmanage logistics, overall operations, and even specific machineoperations, in order to improve performance.

Management and control system 152 can include any desired type ofmulti-input controller. For example, a simulation-based controller canreceive the inputs from items in multiple fields or at multiple sites,operating with non-ideal machines, and from operators that are inuncertain conditions (such as various terrain and weather, etc.).Management and control system 152 can simulate the multitude of operatorcontrols, the multitude of machine-to-machine performance variances, andit can adjust in real-time (or near real time) to provide real-timeinstructions to achieve better operations at each individual worksiteand for the overall operation.

The system 152 can generate a wide variety of different kinds ofrecommendations. The recommendations can consider the performance ofindividual machines. For instance, if one machine becomes underpowered,then management and control system 152 can indicate to speed up or slowother machines, depending on the performance objective. Examples ofother recommendations are described below.

It will be noted that the communication architecture shown in FIG. 3 canbe used with a wide variety of different types of management and controlsystems 152. FIG. 4 shows one embodiment of a management and controlsystem 152 that can be used. Management and control system 152, shown inFIG. 4, illustratively includes an operations reference model 200, anerror calculation component 202, and decision support system 204. It caninclude processor 206 and data store 208 as well. In one embodiment,system 152 also includes operations manager system 210 (that can beautomatic, semiautomatic or manual). For instance, where manager 212 isin service truck 108, then management and control system 152illustratively includes operations manager system 210 as well. However,where manager 212 is remote, then system 210 can be external to system152. In one embodiment, operations manager system 210 provides a userinterface output (such as a user interface display) with user inputmechanisms that can be actuated by manager 212 in order to control andmanipulate worksite operations 216 for one or more of the fieldoperation architectures 100, 130 or 156 shown in FIG. 3. Beforedescribing the operation of management and control system 152 in moredetail, a brief overview will first be provided.

The field operation architectures 100, 130 or 156 that are beingcontrolled are illustratively modeled and their operations are simulatedby operations reference model 200. In one embodiment, model 200 is adiscrete-event model or simulation tool. Model 200 is predictive innature and illustratively generates one or more metrics 201, at itsoutput, which are compared to actual operations data 218 indicative ofthe worksite operations of one or more of the field operationarchitectures 100, 130 or 156.

Error calculation component 202 determines the difference between theactual operations data 218 and that output 201 by model 200. Thus, thereal-time systems at the worksites are synchronized with the simulatedsystem in model 200. In one embodiment, this is done in near real-time,and in another embodiment, the comparison is stored in data store 208for later playback. Model 200 generates the output 201 indicative of theproductivity, performance and positions of the equipment, and a varietyof other things (some of which are discussed below) as a function oftime. The items (such as the harvesters, tractors, trucks and trailers)in the field operation architectures are equipped with location systems(such as GPS equipment) and a variety of other sensors (represented bysensors 220 in FIG. 4). Therefore, they can provide the actualoperations data 218, which is indicative of production, performance,geospatial position, and a wide variety of other information, as afunction of time. The actual data 218 can then be compared against thecorresponding model outputs 201.

In one embodiment, reference model 200 operates on an exception basis.For instance, when the differences between the actual process asindicated by operations data 218 and the simulated process indicated bythe data output 201 by model 200 meets a predefined threshold, thendecision support system 204 can generate recommendations 222.Recommendations 222 can be provided (such as through user interfacedisplays 214) to manager 212, alerting manager 212 that the actualperformance has deviated outside of an acceptable range from the modeledperformance. Manager 212 can then take steps to investigate the cause ofthe discrepancy and to provide management and control outputs 226 tomake appropriate adjustments to increase production performance. At thatpoint, model 200 is updated to reflect the management and controloutputs 226 and processing continues. This can serve as the basis forautomatic, closed loop control wherein equipment (such as theharvesters, tractors, trucks and trailers) are reallocated andproduction rates are adjusted based upon the error 228 relative to themodeled performance. The model 200 will also be updated with anydisturbances 230 which may be input into any of the worksite operations216. The disturbances, for instance, can include weather, interruptionsfor a variety of reasons, machine failures, among others. Thedisturbances can be sensed and automatically input into model 200, orthey can be manually input, or they can be input using a combination ofautomatic sensing and manual observation.

FIGS. 5A and 5B (collectively FIG. 5) show a flow diagram illustratingone embodiment of the operation of management and control system 152 inmore detail. In one embodiment, reference model 200 first receives a setof work objectives 240. This is indicated by block 250 in FIG. 5. Thework objectives can take a wide variety of different forms. Forinstance, they may be input by manager 212, or obtained from anothersource. As examples, the work objectives may be desired worksite outputsin terms of quantity of harvested material per unit time, or aperformance goal or other things. The performance goal characterized bythe worksite objectives may be, for instance, that the harvester neverstops until the harvesting operation is complete. The worksiteobjectives may also be broken down into one or more objectives for thevarious components of the field operation architecture. For instance,there may be a worksite objective for the harvester in tons per hour.There may also be a worksite objective for the in-field transport system114, the transfer system 121, the road transport system 116, the systemthat weighs the crop once it arrives at the mill, and for processinginside the mill. For these examples, the worksite objectives may be interms of tons of harvested product per hour. Of course, other workobjectives can be obtained as well.

Reference model 200 is then configured to model the overall architecturefor which control is desired, if this has not already been done. Forinstance, the model will be configured to model and simulate operationsfor each of the field operation architectures being managed. This isindicated by block 252 in the flow diagram of FIG. 5.

Model 200 then generates a model response output based upon the workobjectives and indicative of simulated operations to obtain the workobjectives. This is indicated by block 254. The output generated bymodel 200 may be operations data or other metrics for the variousmachines being used. This is indicated by block 256. It can represent ahistorical optimum for the field operation architecture being modeled.This is indicated by block 258. It can include a performance or othertarget generated in other ways. This is indicated by block 260. It canrepresent the theoretical ideal 262 for the given field operationarchitecture. For instance, each machine in the field operationarchitecture may have a unique identifier identifying its capabilitiesand the particular features that it is configured with. The operators ofthe machines may also be identified. The theoretical ideal 262 can begenerated using historical data for the given combination of machinesand operators in the field operation architecture. Of course, the modelresponse output can be generated in other ways 264 as well.

At the same time, operations manager system 210 generates the managementand control outputs 226 to set the initial conditions under which theoperation is to commence. For instance, the outputs may identify initialmachine control settings for each of the machines in the operationsarchitecture 270, initial equipment and resource allocations 272,initial labor allocations 274, initial maintenance schedules 276, andinitial logistical outputs and instructions for vehicle routing 278. Theinitial set of instructions or control outputs can include otherinformation 280 as well. Operation at the worksite or worksites thencommences.

The various sensors 220 in the different pieces of equipment in thevarious field operation architectures generate the actual operationsdata 218 indicative of worksite performance. That operations data isreceived by management and control system 152 using a communicationsystem, such as that described above with respect to FIGS. 1-3.Receiving the operations data indicative of worksite operations andperformance is indicated by block 282 in FIG. 5.

As briefly mentioned above, the information can include equipmentallocation information (such as the position of the various machines inthe operations architecture). This is indicated by block 284. It caninclude specific machine performance data and settings sensed andtransmitted on a machine controller area network (CAN) bus, or othermachine performance data as indicated by block 286. It can includesensed vehicle routing information indicative of the actual routes beingtaken by the machines. This is indicated by block 288. It can include ahost of other information as well, as indicated by block 290.

Error calculation component 202 compares the operations data 218 to theresponse output by the reference model 200 to obtain a difference (or,error information) 228. This is indicated by block 292. The comparisonscan include a wide variety of different types of comparisons. Someexamples include a comparison of the actual percentage of each fieldharvested at a given time versus the predicted percentage. It can alsoinclude the actual number of trucks in queue at each field at a giventime versus the predicted number, the actual number of trucks in queueat each mill or storage facility at a given time versus the predictednumber, the actual number of trucks in transport to or from each fieldat a given time versus the predicted number, the actual geospatiallocation of all equipment at a given time versus the predicted location.This includes only a small number of examples of the types ofcomparisons that can be made.

The difference in the compared values is the error 228 relative to themodeled performance. This can be stored in data store 208 for laterplayback, or it can be provided to decision support system 204 in nearreal time.

In one embodiment, the error information 228 is simply stored in datastore 208 unless it exceeds a predetermined (or dynamically determined)threshold value. This is indicated by block 294. By way of example, ifthe queue at the mill is getting too long (e.g., if the wait timeexceeds a threshold value), that may indicate that the harvesters shouldslow down and conserve fuel. This is but one example only. In any case,if the error does exceed a predetermined value, then it can be providedto decision support system 204 which generates actionablerecommendations or adjustments that can be made by manager system 210 tomodify the operation of the worksite operations 216 to more closelyconform to the modeled operation (e.g., to improve performance). This isindicated by block 296. This allows operations manager system 210 tooperate on an exception basis, instead of using continuous monitoring.It will be appreciated, however, that continuous monitoring can be usedas well.

The recommendations 222 can be output to manager 212, using userinterface displays 214, or in other ways. The outputs can be calculatedusing a wide variety of different techniques. For instance, the outputscan be generated using line balancing 298. A number of examples of linebalancing are shown below with respect to FIGS. 6-9. The outputs can begenerated using a variety of heuristics 300. They can also be generatedby accessing a set of best practices which indicate adjustments thatshould be made under certain circumstances. This is indicated by block302. The can include specific machine operation changes, such aschanging the settings, speed, etc. of one or more machines in a givenfield operations architecture. This is indicated by block 304. They caninclude recommendations regarding logistics 306 or scheduled maintenance308. For instance, if decision support system 204 identifies that aharvester will need to stop, based upon a delay in access to billetwagons, then the maintenance for the harvester may be scheduled to occurduring its downtime.

The outputs can be generated to indicate asset, resource or laborallocations. This is indicated by block 310. The outputs can identify ahost of other things as well, and this is indicated by block 312.

Manager system 210 then makes adjustments to the control parameters (themanagement and control outputs) 226 based upon the generatedrecommendations and adjustments 222. This is indicated by block 314. Forinstance, the management system 210 can automatically change maintenanceschedules. In addition, the management system can wait for manager 212to manually change those schedules, etc.

Management and control system 152 continues this operation until theharvesting is complete. This is indicated by block 316. If it is notcomplete, then processing continues.

It may be that, during the operations, some type of disturbance 230 isinput into the worksite operations 216. This is indicated by blocks 320and 322. The disturbances may be changing weather conditions, a machinefailure, a slow down at the mill for one of a variety of reasons, or itcan include a wide variety of other disturbances. These disturbances canbe sensed and input to model 200 at the same time that they occur, or innear real-time. This is indicated by block 318. They can also be inputto the model 200 manually. In any case, receiving disturbances into thesystem is indicated by block 322.

Model 200 then generates a new response based upon the work objectives,the adjustments to the control parameters 226 and the disturbances 230.This is indicated by block 324. Processing then reverts back to block282 where the sensed operations data 218 is received from the worksiteoperations, and the closed loop control continues.

FIGS. 6 and 7 show an example in which decision support system 204generates recommendations 222 using line balancing. In the example shownin FIG. 6, a plurality of subsystems in a field operations architectureare indicated along the x-axis of the bar chart. These include harvest,in-field transport, transfer to the road transport system, roadtransport, weighing and operations inside the mill. The y-axis indicatesa volume of product per unit time (in this case, tons per hour). For thesystem to be operating as desired, all of the subsystems are processingthe harvested product at the same rate. Model 200 generates the targetline 400. Therefore, all of the bar charts will be precisely at thelevel of line 400 shown in FIG. 6. This is because all of the subsystemswill be moving the product at the same mass flow rate throughout theentire architecture, and the target mass flow rate indicated by line 400is that for the simulated system, as generated by model 200.

In another embodiment, the y-axis can be normalized to cycle times inminutes. For instance, the y-axis can represent the cycle time of movinga given mass of harvested product through the subsystem. Again, for thesystem to operate with high performance, all of the subsystems will havean equal cycle times.

FIG. 6 shows an example of a display that can be generated, forinstance, prior to management and control system 152 generating therecommendations or adjustments. It can be seen in FIG. 6 that thein-field transport subsystem 114 is creating a bottleneck. This isbecause the portion of the bar chart corresponding to the in-fieldtransport system 114 (and generally indicated at 402) exceeds line 400.This means that it is taking longer for the in-field transport system114 to transport the same mass of harvested product than it is any ofthe other subsystems. FIG. 6 also shows that all of the subsystemsdownstream of the in-field transport system 114 are then waiting. Thisis indicated generally by the area outlined at 404.

FIG. 7 shows one example of a user interface display 404 that can begenerated by operations manager system 210 to show the outputs generatedby management and control system 152. Display 404 illustrativelyincludes the chart 406 shown in FIG. 6. The chart thus indicates overallsystem performance. In addition, it shows the current resourceallocation illustrated generally at 408. It also shows a suggestedresource allocation illustrated generally at 410. The suggested resourceallocation reflects the recommended adjustments to the operations thatwill make the bars in the bar chart 406 closer to the modeled value 400.

In the embodiment shown in FIG. 7, for instance, it can be seen that theresources are currently allocated with six in-field transporters, tentrucks, one scale and it also indicates that the number of trucksprocessed simultaneously at the mill is three. Because graph 406 showsthat the in-field transportation subsystem 114 is creating a bottleneck,it can be seen that decision support system 204 has generated arecommendation or suggestion (shown generally at 410) to increase thenumber of in-field transporters from six to eight and to decrease thenumber of trucks from ten to seven.

In one embodiment, the suggestions shown generally at 410 can be madebased on a rolling average of system performance. Therefore, if thesystem performance is degraded for only a short period of time, thesuggestions may not be appropriate. However, by averaging the operationsperformance over some period of time (for example, an hour), this canprovide a more likely indication that an adjustment should be made.

In the example embodiment shown in FIG. 7, user interface display 404also illustratively includes a switch 405 that can be actuated bymanager 212 to implement the suggested changes. In that case, operationsmanager system 210 will automatically generate an output 226reallocating the resources as suggested at 410.

Similarly, user interface display 404 illustratively includes aharvester selection user input mechanism 407. This allows manager 210 toincrease or decrease the number of harvesters and have model 200simulate and display how that would affect the suggestions showngenerally at 410.

FIG. 8 shows an example of a line-balance chart 412 that is generatedafter the suggestions have been implemented. It can be seen that thebottleneck at 402 has been substantially eliminated, and the wait timesindicated generally at 404 have been much improved. The user interfacedisplay can then be generated showing the modified line-balancing graph406.

The present discussion has mentioned processors and/or servers. In oneembodiment, the processors and servers include computer processors withassociated memory and timing circuitry, not separately shown. They arefunctional parts of the systems or devices to which they belong and areactivated by, and facilitate the functionality of the other componentsor items in those systems.

Also, a number of user interface displays have been discussed. They cantake a wide variety of different forms and can have a wide variety ofdifferent user actuatable input mechanisms disposed thereon. Forinstance, the user actuatable input mechanisms can be text boxes, checkboxes, icons, links, drop-down menus, search boxes, etc. They can alsobe actuated in a wide variety of different ways. For instance, they canbe actuated using a point and click device (such as a track ball ormouse). They can be actuated using hardware buttons, switches, ajoystick or keyboard, thumb switches or thumb pads, etc. They can alsobe actuated using a virtual keyboard or other virtual actuators. Inaddition, where the screen on which they are displayed is a touchsensitive screen, they can be actuated using touch gestures. Also, wherethe device that displays them has speech recognition components, theycan be actuated using speech commands.

A number of data stores have also been discussed. It will be noted theycan each be broken into multiple data stores. All can be local to thesystems accessing them, all can be remote, or some can be local whileothers are remote. All of these configurations are contemplated herein.

Also, the figures show a number of blocks with functionality ascribed toeach block. It will be noted that fewer blocks can be used so thefunctionality is performed by fewer components. Also, more blocks can beused with the functionality distributed among more components.

It will also be noted that the elements of FIG. 3 or 4, or portions ofthem, can be disposed on a wide variety of different devices. Some ofthose devices include servers, desktop computers, laptop computers,tablet computers, or other mobile devices, such as palm top computers,cell phones, smart phones, multimedia players, personal digitalassistants, etc.

FIG. 9 is a simplified block diagram of one illustrative embodiment of ahandheld or mobile computing device that can be used as a user's orclient's hand held device 16, in which the present system (or parts ofit) can be deployed. For instance, a mobile device can be deployed inthe operator compartment of the harvesters, trucks, tractors or at themills or storage facilities. It can also be deployed in the servicetruck.

FIG. 9 provides a general block diagram of the components of a clientdevice 16 that can run some components shown in FIGS. 3-4, thatinteracts with them, or both. In the device 16, a communications link 13is provided that allows the handheld device to communicate with othercomputing devices and under some embodiments provides a channel forreceiving information automatically, such as by scanning. Examples ofcommunications link 13 include allowing communication though one or morecommunication protocols, such as wireless services used to providecellular access to a network, as well as protocols that provide localwireless connections to networks.

Under other embodiments, applications can be received on a removableSecure Digital (SD) card that is connected to an interface 15. Interface15 and communication links 13 communicate with a processor 17 along abus 19 that is also connected to memory 21 and input/output (I/O)components 23, as well as clock 25 and location system 27.

I/O components 23, in one embodiment, are provided to facilitate inputand output operations. I/O components 23 for various embodiments of thedevice 16 can include input components such as buttons, touch sensors,optical sensors, microphones, touch screens, proximity sensors,accelerometers, orientation sensors and output components such as adisplay device, a speaker, and or a printer port. Other I/O components23 can be used as well.

Clock 25 illustratively comprises a real time clock component thatoutputs a time and date. It can also, illustratively, provide timingfunctions for processor 17.

Location system 27 illustratively includes a component that outputs acurrent geographical location of device 16. This can include, forinstance, a global positioning system (GPS) receiver, a LORAN system, adead reckoning system, a cellular triangulation system, or otherpositioning system. It can also include, for example, mapping softwareor navigation software that generates desired maps, navigation routesand other geographic functions.

Memory 21 stores operating system 29, network settings 31, applications33, application configuration settings 35, data store 37, communicationdrivers 39, and communication configuration settings 41. Memory 21 caninclude all types of tangible volatile and non-volatilecomputer-readable memory devices. It can also include computer storagemedia (described below). Memory 21 stores computer readable instructionsthat, when executed by processor 17, cause the processor to performcomputer-implemented steps or functions according to the instructions.Processor 17 can be activated by other components to facilitate theirfunctionality as well.

Note that other forms of the devices 16 are possible.

FIG. 10 is one embodiment of a computing environment in which elementsof FIGS. 3-4, or parts of them, (for example) can be deployed. Withreference to FIG. 10, an example system for implementing someembodiments includes a general-purpose computing device in the form of acomputer 810. Components of computer 810 may include, but are notlimited to, a processing unit 820, a system memory 830, and a system bus821 that couples various system components including the system memoryto the processing unit 820. The system bus 821 may be any of severaltypes of bus structures including a memory bus or memory controller, aperipheral bus, and a local bus using any of a variety of busarchitectures. Memory and programs described with respect to FIGS. 3-4can be deployed in corresponding portions of FIG. 10.

Computer 810 typically includes a variety of computer readable media.Computer readable media can be any available media that can be accessedby computer 810 and includes both volatile and nonvolatile media,removable and non-removable media. By way of example, and notlimitation, computer readable media may comprise computer storage mediaand communication media. Computer storage media is different from, anddoes not include, a modulated data signal or carrier wave. It includeshardware storage media including both volatile and nonvolatile,removable and non-removable media implemented in any method ortechnology for storage of information such as computer readableinstructions, data structures, program modules or other data. Computerstorage media includes, but is not limited to, RAM, ROM, EEPROM, flashmemory or other memory technology, CD-ROM, digital versatile disks (DVD)or other optical disk storage, magnetic cassettes, magnetic tape,magnetic disk storage or other magnetic storage devices, or any othermedium which can be used to store the desired information and which canbe accessed by computer 810. Communication media may embody computerreadable instructions, data structures, program modules or other data ina transport mechanism and includes any information delivery media. Theterm “modulated data signal” means a signal that has one or more of itscharacteristics set or changed in such a manner as to encode informationin the signal.

The system memory 830 includes computer storage media in the form ofvolatile and/or nonvolatile memory such as read only memory (ROM) 831and random access memory (RAM) 832. A basic input/output system 833(BIOS), containing the basic routines that help to transfer informationbetween elements within computer 810, such as during start-up, istypically stored in ROM 831. RAM 832 typically contains data and/orprogram modules that are immediately accessible to and/or presentlybeing operated on by processing unit 820. By way of example, and notlimitation, FIG. 10 illustrates operating system 834, applicationprograms 835, other program modules 836, and program data 837.

The computer 810 may also include other removable/non-removablevolatile/nonvolatile computer storage media. By way of example only,FIG. 10 illustrates a hard disk drive 841 that reads from or writes tonon-removable, nonvolatile magnetic media, a magnetic disk drive 851,nonvolatile magnetic disk 852, an optical disk drive 855, andnonvolatile optical disk 856. The hard disk drive 841 is typicallyconnected to the system bus 821 through a non-removable memory interfacesuch as interface 840, and magnetic disk drive 851 and optical diskdrive 855 are typically connected to the system bus 821 by a removablememory interface, such as interface 850.

Alternatively, or in addition, the functionality described herein can beperformed, at least in part, by one or more hardware logic components.For example, and without limitation, illustrative types of hardwarelogic components that can be used include Field-programmable Gate Arrays(FPGAs), Program-specific Integrated Circuits (e.g., ASICs),Program-specific Standard Products (e.g., ASSPs), System-on-a-chipsystems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

The drives and their associated computer storage media discussed aboveand illustrated in FIG. 10, provide storage of computer readableinstructions, data structures, program modules and other data for thecomputer 810. In FIG. 10, for example, hard disk drive 841 isillustrated as storing operating system 844, application programs 845,other program modules 846, and program data 847. Note that thesecomponents can either be the same as or different from operating system834, application programs 835, other program modules 836, and programdata 837.

A user may enter commands and information into the computer 810 throughinput devices such as a keyboard 862, a microphone 863, and a pointingdevice 861, such as a mouse, trackball or touch pad. Other input devices(not shown) may include a joystick, game pad, satellite dish, scanner,or the like. These and other input devices are often connected to theprocessing unit 820 through a user input interface 860 that is coupledto the system bus, but may be connected by other interface and busstructures. A visual display 891 or other type of display device is alsoconnected to the system bus 821 via an interface, such as a videointerface 890. In addition to the monitor, computers may also includeother peripheral output devices such as speakers 897 and printer 896,which may be connected through an output peripheral interface 895.

The computer 810 is operated in a networked environment using logicalconnections (such as a local area network—LAN, or wide area network WAN)to one or more remote computers, such as a remote computer 880.

When used in a LAN networking environment, the computer 810 is connectedto the LAN 871 through a network interface or adapter 870. When used ina WAN networking environment, the computer 810 typically includes amodem 872 or other means for establishing communications over the WAN873, such as the Internet. In a networked environment, program modulesmay be stored in a remote memory storage device. FIG. 10 illustrates,for example, that remote application programs 885 can reside on remotecomputer 880.

Example 1 is a method, comprising:

modeling, with a model, operations at a worksite based on individualmachine characteristics of machines working at the worksite and worksiteobjectives, to obtain a model output indicative of an operational targetfor the worksite;

comparing, with an error calculator, actual operations data, indicativeof actual operations at the worksite, against the operational target toobtain a difference;

adjusting the operations of the worksite based on the difference; and

providing closed loop communication between the worksite, the model, andthe error calculator to obtain closed loop control of the operations atthe worksite.

Example 2 is the method of any or all previous examples wherein theworksite comprises an industrial agricultural worksite at which aplurality of agricultural machines process agricultural material andwherein providing closed loop communication comprises:

providing closed loop communication between the plurality ofagricultural machines, the model, and the error calculator to obtainclosed loop control of the operations at the industrial agriculturalworksite.

Example 3 is the method of any or all previous examples wherein theindustrial agricultural worksite comprises a sugarcane worksite in whichthe plurality of machines comprise one or more sugarcane harvesters, oneor more tractors that pull one or more billet wagons, and one or moretransport vehicles that transport the sugarcane to a remote facility,and wherein providing closed loop communication comprises:

providing closed loop communication among the one or more sugarcaneharvesters, the one or more tractors that pull one or more billetwagons, the one or more transport vehicles that transport the sugarcaneto a remote facility, the remote facility, the model, and the errorcalculator to obtain closed loop control of the operations at thesugarcane worksite.

Example 4 is the method of any or all previous examples wherein theworksite comprises a construction worksite at which a plurality ofconstruction machines perform construction operations and whereinproviding closed loop communication comprises:

providing closed loop communication between the plurality ofagricultural machines, the model, and the error calculator to obtainclosed loop control of the operations at the industrial agriculturalworksite.

Example 5 is the method of any or all previous examples wherein theworksite comprises forestry worksite at which a plurality of forestrymachines perform forestry operations and wherein providing closed loopcommunication comprises:

providing closed loop communication between the plurality of forestrymachines, the model, and the error calculator to obtain closed loopcontrol of the operations at the forestry worksite.

Example 6 is the method of any or all previous examples whereinproviding closed loop communication comprises:

providing the closed loop communication using a plurality of differentcommunication systems.

Example 7 is the method of any or all previous examples whereinproviding closed loop communication includes providing near real timedata communication that transmits, over a communication network to amanagement and control system, worksite operations data as actualoperations data from the machines working at the worksite.

Example 8 is the method of any or all previous examples wherein theclosed loop communication comprises local, two-way communication that islocal to the worksite and that provides two-way communication between amanagement and control system and machines working at the worksite.

It should also be noted that the different embodiments described hereincan be combined in different ways. That is, parts of one or moreembodiments can be combined with parts of one or more other embodiments.All of this is contemplated herein.

Although the subject matter has been described in language specific tostructural features and/or methodological acts, it is to be understoodthat the subject matter defined in the appended claims is notnecessarily limited to the specific features or acts described above.Rather, the specific features and acts described above are disclosed asexample forms of implementing the claims.

What is claimed is:
 1. A method, comprising: modeling, with a model,operations at a worksite based on individual machine characteristics ofa plurality of machines working at the worksite and worksite objectives,to obtain a model output indicative of an operational target for theworksite, wherein the plurality of machines perform different operationsin a sequential upstream to downstream order such that an upstreamoperation output limits a downstream operation output; comparing, withan error calculator, actual operations data, indicative of actualoperations at the worksite currently being performed by the plurality ofmachines in the sequential upstream to downstream order, against theoperational target to obtain a difference; adjusting the operations ofthe worksite based on the difference; and providing closed loopcommunication between the worksite, the model, and the error calculatorto obtain closed loop control of the operations at the worksite.
 2. Themethod of claim 1 wherein the worksite comprises an industrialagricultural worksite at which a plurality of agricultural machinesprocess agricultural material and wherein providing closed loopcommunication comprises: providing closed loop communication between theplurality of agricultural machines, the model, and the error calculatorto obtain closed loop control of the operations at the industrialagricultural worksite.
 3. The method of claim 2 wherein the industrialagricultural worksite comprises a sugarcane worksite in which theplurality of agricultural machines comprise one or more sugarcaneharvesters, one or more tractors that pull one or more billet wagons,and one or more transport vehicles that transport the sugarcane to aremote facility, and wherein providing closed loop communicationcomprises: providing closed loop communication among the one or moresugarcane harvesters, the one or more tractors that pull one or morebillet wagons, the one or more transport vehicles that transport thesugarcane to a remote facility, the remote facility, the model, and theerror calculator to obtain closed loop control of the operations at thesugarcane worksite.
 4. The method of claim 1 wherein the worksitecomprises a construction worksite at which a plurality of constructionmachines perform construction operations and wherein providing closedloop communication comprises: providing closed loop communicationbetween the plurality of construction machines, the model, and the errorcalculator to obtain closed loop control of the operations at theconstruction worksite.
 5. The method of claim 1 wherein the worksitecomprises forestry worksite at which a plurality of forestry machinesperform forestry operations and wherein providing closed loopcommunication comprises: providing closed loop communication between theplurality of forestry machines, the model, and the error calculator toobtain closed loop control of the operations at the forestry worksite.6. The method of claim 1 wherein providing closed loop communicationcomprises: providing the closed loop communication using a plurality ofdifferent communication systems.
 7. The method of claim 1 whereinproviding closed loop communication includes providing near real timedata communication that transmits, over a communication network to amanagement and control system, worksite operations data as actualoperations data from the machines working at the worksite.
 8. The methodof claim 1, wherein the closed loop communication comprises local,two-way communication that is local to the worksite and that providestwo-way communication between a management and control system andmachines working at the worksite.